function dxdt = mCNN_single(~, x, A, B)
    X = x(1:3);
    q1 = x(4);
    M = exp(-q1);
    Y = M .* X;
    dX = -X + A*Y + B*X;
    dq1 = X(1);
    dxdt = [dX; dq1];
end